Echo ranging system



Nov. 22, 1955 c. AA. HlssERlcH ECHO RANGING SYSTEM 3 Sheets-Sheet Filed Feb. l, v1944 Fig. I

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JNVENTOR. CHARLES A. H/ssEn/CH Arron/VHS l l TIME Fig.

-MAX. LOST TIME y Fmin Nov. 22, 1955 c. A. HlssERlcH ECHO RANGING SYSTEM Filed Feb. `1, 1944 3 Sheets-Sheet -IIL TLVL m- Omo m .nl

1N V EN TOR. C HA RL ES A. H/SSER/GH I A OR/vfys fil Nov. 22, 1955 c. A. HlssERlcH ECHO RANGING SYSTEM 5 Sheets-Sheet 3 Filed Feb. l, 1944 m .mi

m obomhmo IN VEN TOR.

CHARLES A. H/SSER/CH Y A TTORNEYS United States atent O ECHO RANGING SYSTEM` Charles A. Hisserich, Hollywood, Calif., assignor to the United States of America as represented by the Secretary of the Navy Application February 1, 1944, Serial N 520,667

s Claims. (Cl. 340-3) This invention relates to a system and method of echo ranging.

Most echo-ranging systems developed and used in the past havel utilized means for introducing intermittent signals (or pings) into the acoustic medium. Such systems, however, have one serious defect-an inherently slow and discontinuous manner of operation. Under standard procedures with such (submarine) equipment, the search of a` 180 sector to 5000 yards, with pings sent out every 5 in bearing, requiresV four minutes. Furthermore, thereis presentv constantly the possibility that a target present in the scanned area may have been missed if a single pin is attenuated, masked or interrupted by any factor.

These difliculties were partially overcome inthe system described in` application for Letters Patent, Serial No. 488,501, lfiled May 26, 1943, by Karl S; Van Dyke and entitled Echo-Ranging System and Method, in which it is possible tofocus the arrangement at a certain range for detection of objects at that particular distance, but the system does not allow the operator to determine the presence of objects at other ranges, without re-focusing the system.

v However, in the system disclosed in the application referred to above, .there is available at the output of the receiver, information which, if properly analyzed, will indicate the presence or absence of objects or targets at all ranges, simultaneously. Thus, it is one of the objects of the present invention to provide a system and method `of echo ranging which will detect objects- (if present) simultaneously at all ranges.

It is apparent that if a frequency-modulated (FM)` wave is transmitted toward an object, the reflected wave may be heterodyned with the transmitted wave toV produce -a beat frequency. If the transmitted signal is modulated by a low-frequency linear sawtooth wave (either symmetrical` or asymmetrical), it is also. obvious that such a beat frequency is a measure of the range of the object from `which the returning wave was reflected, as is shown in the above identified application. If several objects at varying distances from the projector reect the ytransmitted wave, there will be produced a number of beatvfrequencies which are simultaneously present, from each of which the rangev of one particular object may be determined. It is, therefore, another object of the invention to analyze the output of such a receiver in order that the range of all objects be simultaneously and continuously determined.

Still another object is a means for analyzing the information in the receiver just described, so that the presence of the various beat frequencies may be separately, yet simultaneously, determined.

Yet another object of the invention is a device and method for obtaining and continuously portraying on a single screen, information about the presence of a pluralityof objects located at varying distances and bearings from an echo-ranging projector. j

An even further object of the invention is a method and system of echo ranging which provides accurate information about objects or targets in a large area in 1 an exceedingly short time. In other systems which require focusing at a particular range and/or bearing, there is always a very considerable loss of time because information from only one point or range is available atany one time. Thus, in the intermittent signal systems, the transmitted signals must be spaced suiciently in time that an echo is received from one signal before another is transmitted. Even in the continuous signal system described above, it is necessary to re-focus the transmitter and Wait for the round-trip signal transit time before other ranges may be investigated. However, in the continuous signal system, there is available, in the receiver, information With respect to all ranges. In the present invention, this is separated and/or applied to a plurality of channels, with each channel carrying information about a particular range. The outputs of the various channels may either be examined simultaneously or rapidly scanned and presented on a long-persistence device for effectively simultaneous examination. In this manner, information with respect to all ranges and bearings (as well as changes in range and bearing) is continuously available.

In the drawings: t

Figure l is a plot of frequency versus time showing the relation between transmitted and received waves.

Figure 2 is a plot of frequency versus time showing the heterodyne frequencies produced by the waves of Fig. l.

Figure 3 is a plot of frequency versus time showing a desirable relation between transmitted' and received waves, wherein the received waves are displaced only a small amount from the transmitted waves.

Figure 4 is a graph showing the amount of lost time for operation under the conditions illustrated in Fig. 3.

Figure 5 is a schematic block diagram of one form of the invention.

lFigure 6 is a schematic block diagram of another form of the invention.

In the present invention, a linear sawtooth FM signal is radiated into the water continuously. This continuous signal may have either a symmetric (roof-top) or asymmetric sawtooth wave shape. The echoes or reflected Waves which return to the receiver after reflection from an object are characterized by a wave of the same vshape displaced in phase from the transmitted wave by an amount proportional to the time of travel to and from the object. At any instant, therefore, the transmitted and reected signals differ in frequency by an amount proportional to this time, or the distance to the object (since the velocity of the waves is constant). In the invention, the two Waves are heterodyned together to produce their difference frequency. If several objects are present, each will reect a Wave which, when heterodyned with the transmitted signal, will produce a similar heterodyned frequency proportional to its range or distance from the radiator.

Thus, at the output of the detector there is a spectrum of frequencies that individually have a unique correspondenceto the range of the object producing them. In the invention, this spectrum is analyzed and then separated, and individual frequencies utilized to operate a multichannel indicator. Consequently, information with respect to all ranges is continuously and simultaneously presented.

Since the presence of an object at a particular range is characterized by the production of a particular heterodyne signal, it is seen that unless the reflected wave arrives at the receiver at a time (after transmission) exactly `equal to one-half of the sawtooth period as shown in Fig. 1, this signal will be characterized by an alternating step-frequency tone (as illustrated in Fig. 2,). For example, if the transmitted wave (indicated by the full line in Fig. l) is assumed to vary between Fmg and Fmm and the sawtooth period'is T, a lcontinuous constant :frequency f1 will be produced aby heterodyning the received wave (indicated fby a dotted line) with the :transmitted wave, only when Vthe received wave arrives l.atthe receiver at a time T/ 2 after transmission. AIf the received wave arrives at some lother time after transmission, `say T/4 seconds later (as .indicated by .the dashed line), the heterodyne vfrequency -will be one which will step from fz (rover 3%: of the `sawtooth cycle) to f3 (over lMt of the sawtooth cycle). This .same variation `will be lproduced by a received wave 'which :arrives (as .indicated by the dot-.dash line) ata time 3T/4 seconds .after transmission, .or from .an object which is positioned vthree times as far away .from fthe radiator.

l'ilhese :heterodyne y'or difference frequencies are illustrated in Fig. 2, Whose graphs correspond to the reected waves shown in Fig. :1. Thus, the heterodyne `waves are identical (except rfor phase) when .echoes return at T/4 and 3Tl/4'seconds after transmission. IIn .a 'similar manner, Lit .can the shown that `every returning wave (except one returning at T/.2 seconds vafter transmission) has such an image wave, which may be confused with it.

Thus, :before describing means and methods of .utilizing the various beat frequencies, the possibility of `this yconfusion should be eliminated. This maybe accomplished in the finvention by so choosing .the sawtooth period T that .the :reflected waves from vall of the yranges which are to be examined :lie close `to the Atransmitted frequencies. as shown in Eig. .3. If this is done, :the so-called"image frequencies may be easily eliminated by properly choosing y.the receiver :pass aband, and because waves may be considerably attenuated land refracted (or ibent) at the long ranges `responsiblefor .the production of the image waves. However, `when the `sawtooth .period .is chosen to tinsure this 'type of loperation, va .certain percentage of lost time 'is introduced, as lis illustrated in Fig. 4. Since the .fimage frequencies are 'to ibe disregarded, that .portion of the sawtooth in which they are present Vserves :no useful rpurpose. rEhe-percent;of:losttime is illustrated'by the solid line in Fig. 4, and is seen to be .proportional to themange. -It :is -found :that :if the greatest apercentage, as illustrated in IFig. 4, 'is maintained below about 25% no .undesirable feffects `will .be produced. The lost time may tbe considered .as simply a loss .of resolution in Vthe system (due Ato rpossible target movement .during this losttime), but fortunatelyis 'smaller 'at'the shorter ranges, at which more accurate :information 'is desired.

-Given the type .of transmission which .has been ldiscussed above, .andassuming 'sawtooth operation, the period :df which is preferably chosen so that the reflected waves lie close to the .transmitted wave, zthere are two methods -of resolving the information contained in ythe receiver. .The yfirst, :illustrated .rin Fig. 5, -is electrical; and the second, illustrated inFig. 6, is mechanical.

.The 'electrical'method comprises feeding `the output -of the '.receiver ato 4arseries of band=pass ltersfeach Aof which is :designed rto pass a particular :band of difference frequencies, which correspond to echoes -returning from objects :in a marrow 'range hand. Each filter v'is -tuned to `one -of la .sequence Aof :frequencies so that 'together they cover -ztheentire spectrum to vbe analyzed. Provis'ion is @made for recti'fying the output -of each I'filter lchannel and :the sresulting D. C. is lused Yto charge a lcondenser so that the signal tm'aybe :properly stored and averaged. results .in .making :continuously available at the -output of each channel, information regarding the-presence of subjects or :targets at ythe range represented by that channel. 'lhestored-energy, in turn,-may -be connected, by means .of 'a rswitch, to 4a cathode-ray oscilloscope (GRO) Itiniaimannerz'that eachchannel is successivelyapplied, :through :an amplifier, to modulate the lintensity rof the spot. df'the spot iis 'made to scantsynchronously with the application of successive channels to theintensitly circuit (by means of the switch), it is seen that a plot of range may be set off on the CRO screen and the presence of targets determined by the brightening of the spot. If a long-persistence screen-type CRO is used, excellent plots are obtained for all ranges.

Although any conventional type of switching scheme may be used, ,it 'has been ,found that y'the Electronic Switch, disclosedin a patent application, executed February 2, '1943, by Sidney Bertram and entitled .Multi- Channel Electronic Switch, Serial No. 532,915., and-'tiled April 26, 1944, now Patent No. 2,594,535 issued April 29, 1952, will give fexcellent results. `^Itlprovides vaxmeans of rapidly scanning the .outputs of the .filter channels so that the information maybe portrayed on the screen of a CRO.

The system of Fig. 5 is one which has proved very successful in submarine .echo rangingy and Sis described here simply as an example of the invention. The sawtooth-modulated .oscillator i (which may fconsist lof a positive Ibias multivibrator modulated Iby 'the "D, C.v sawtooth from va relaxation .oscillatoriL power .amp'lilier 2, wave projector .or radiator 23, vwave vreceiver `4, detector 5 and the injection circuit 26 are conventional :and may '-be the Asame as Ithose disclosed :in the patent application, Serial No. 488,501, .tiled May24, .1943 referredlto above. A band-pass filter 7 is connected between the wave receiver 4 and detector 5 in .-order to limit the lfrequencies passed to ,the receiving system ito about the range o'f those transmitted. It .has .been found that provision of such a iilter notably improves the ultimate signal-to-noise ratio. The signal .from iilter 7 is mixed with theheterodyne injection voltage from vthe sawtooth-modulated oscillator 1 in detector 5, -which conveniently may lbe a copper Oxide Avaristor yoperating as a vring modulator. The detector 5 is followed 'by another low-pass filter 8 passing only those heterodyne frequencies which correspond to :the lranges .to be scanned, `and thus eliminating the ,image frequencies which are produced by yexceedingly long ranges as described above. For example, Aif the :sawtooth-modulated oscillator is arranged 'to sweep from 36 to 48 -kc., .its range .may ibefchosen at approximately 0;to 3000 cycles. Theioutput of filter Sis applied to .aslope ampliier 4`9. This .amplifier '.is one of conventional zdesign `and is .used to :compensate for the effects produced by the ,phenomenon known .as reverberation. Thisgis because :the intensityof reverberation 'dropsfrapidly after transmission ('with increasing range), Yand lit'is thus necessary :to 1amplify the higher frequencies to a much ,greaterdegree 'than :the lower frequencies. The slope .of :such amplification .is :chosen :such `'that lthe intensity `of reverberation is maintained approximately the same rforfall 'frequencies '(ife., ranges). The rate of gai-n increase should theoretically be l2 `db per roctavefcorfessponding :to vtheinverse :fourth power law. T his r'function may also :be laccomplished in the 'individual filt'er channels y(to be described) but it 2is more convenient to do it 'as just Adescribed so that all the lfilters work at approximately -the sameleveL In any case, ythe possibility of yfalse indications due to local `reverberation is 'largely eliminated 'by either of these means.

Theputputo'f amplilierE 9 `is supplied -to a-n'xulti-channel filter'10, whose 'separate channels are conventionally arranged to lpass Isuccessive l'bands yoffi'reguencies. For example, if the sawtooth-modulated oscillator '1,is assumed to sweepbetween l36 and 48 rkcnand ityis desired to scan ranges Ifrom approximately 1:80 to '1800-yards, it has been found .convenient 'to' `choose iilter 10 with 'ten channels whose band-pass components :are approximately '.1/3 octave'wide and center vabout the frequency .valuesishown in Fig. 5, with transitions loccurring Yat the 3 .db attenu ation points.

:One diicultywhich is seemingly apparent in 'connection with the filter 10 is that the;range resolution might be poor because Arange Iis lscanned lin zones. However, the range lima..

resolution is found to be considerably better than the z'onal distribution would indicate because the filters are chosen withl slopes which overlap. This enables a single frequency to present reduced amplitude indication in adjacent channels, but the relative distribution of these adjacent channel signals gives an indication of true placement in the center channel, as viewed on the CRO, to be subsequently described. p

In connection with the filter 10,V it should be noted that it may be of any conventional type and that the one described is illustrative only. Thus, any number of channels may be used, other pass-bands (to represent other ranges) may be chosen, or the sawtooth period of the oscillator 1 may be made adjustable, in which case the ranges represented by the filter channels are all proportionately changed. For example, in the case above, a sawtooth period of 12 seconds has been used to cover a range of from approximately 180 to 1800 yards. Any increase or decrease in the sawtooth period causes a proportional change in the ranges scanned.

The output of each of the channels of filter is applied to a rectifier 11, and inl turn to a storage circuit 12. Conventional arrangements of condensers shunted with resistors may be utilized for this purpose and the time constant for both build-up and decay should be approximately equal to the time spent by the receiving beam as it scans over a target point. This arrangement, equivalent in action to a low-pass filter, improves the ratio of signal to noise since very short pulses of noise do not have suicient time to build up an interferring signal.

As has been described above, any conventional type switch may be used to connect the successive storage circuits to the indicator. In Fig. 5, individual switching elements 13 are illustrated, which are a part of the electronic switch 1.4. This whole switch arrangement may convehiently be identical with ,that described in a patent application, executed February 2, 1943, by Sidney Bertram and entitled Multi-Channel Electronic Switch, Serial No. 532,915, led April 26, 1944. g

The outputs of the storage circuits 12 are connected or scanned, in succession (at a rate depending upon the operation of switch 14), and applied to the cathode-ray oscilloscope 15 (preferably of the long-persistence screen type), through the Z-axis, or intensity amplifier 16. In this way the storage circuits cause a brightening of the spout `on the CRO screen` at the appropriate time in the sweep. In order that the'screen of the CRO will have a long life, it is desirable to make `the intensity amplifier 16 a limiting amplifier. Thus, loudor intense signals do not irreparably damage the` CRO screen.

. The Y-axis, orvertical amplifier 17 is controlled by the scanning voltage of switch 14 in order that the output from any one channel causes a brightening of the spot at the same point during each sweep. This deflection can be made to follow any time law depending upon the kind and rate of scan andthe kind of range scale desired on the CRO screen. p

The X-axis, or horizontal amplifier 1S, is arranged to operate in conjunction with the movement of the wave receiver 4, so that an azimuth or bearing angle scale may be established on the CRO screen. This arrangement is also conventional and any convenient means to insure the synchronization of the horizontal sweep of the CRO spot with the sweep of the receiver may be used.

Ithas also been found convenient in the circuit illustrated-in Fig. 5 to provide a channel monitor switch 19 which is connected through an audio-frequency amplier 20 to a loudspeaker 21. By means of this system, the output of amplier 9 or any one of the channels of filter 10 may be listened to directly, if desired.

Returning to the wave receiver sweep arrangement, it may be said that thevparticularone chosen depends upon theusetobeu made ofthe gear.' It may be advantageous to have the receiver automatically sweep back and forth over a given sector, as where the gear is mounted on shore or on a stationary ship for guarding a harbor entrance. The same arrangement also is very satisfactory for use on the bow of a ship for detecting submerged objects, such as submarines, rocks, wrecks, mines, etc.

In other cases, as for instance on an anti-submarine vessel, it may prove desirable to have a 360 sweep on the device so that the surrounding area is under complete investigation at all times. In another application, the sweep may be arranged to be manual, as is true of conventional gear, and trainable by an operator. Or, these methods may be combined in the same gear so that any particular sweep arrangement may be utilized.

It may also be desirable to arrange the plot on the CRO screen in polar rather than Cartesian coordinates in order that more accurate estimation of ranges and bearings may be made. To accomplish this, the orientation of the CRO trace may be determined by means of a selsyn system in which a driving selysn is connected to the shaft by means of which the wave receiver is rotated and the driven selsyn is connected to mechanically rotate the magnetic deflection coils in the CRO. This system provides, in essence, a polar plot of the area being scanned. When a spot appears upon the screen, its distance from the center is a reliable measure of its range. Its azimuth is its relative bearing. Its size and shape provide information for determining its nature and its proportions Other methods of plotting, known to those in the art, may also be utilized.

It is clear from the foregoing that the particular kind of receiver sweep and plotted indication is not of great importance and that the choice of any particular one is dependent upon the functions desired to be performed. The invention consists in the means and method of obtaining and indicating, simultaneously and continuously, the information from all ranges, and any convenient method of portrayal may be used. Nevertheless, the type and rate of scanning which is used has a determining eiect upon other portions of the circuit. In other words, since the sawtooth rate determines the rate at which range is scanned and since in combination with the receiver sweep, this determines the area scanned, it is obvious that these rates must be chosen such that all points within the area are scanned and that the rate is not too fast for resolution of the information which is present. In this same connection the storage circuits and the switch scanning rate must be so arranged that proper resolution is obtained. p

This may perhaps best be illustrated by giving an example of a system (partially described above) which has proven very satisfactory in practice. The sawtooth period T was taken at l2 seconds and a ten-channel switch was used with bands similar to those shown in Fig. 5. The scanning rate of the switch was taken at times a second. In this case the wave receiver, having a beam pattern approximately 10 Wide, was rotated to scan a sector 40 wide in 1 second. Thus a l/Zi -second averaging period was maintained. The time constants of the storage circuit were chosen at y2@ second, which was comparatively large for the 1A20-second switch scan period, but was so chosen in order that the D. C. output indication approached the peak value as closely as possible. The choice of time constants (which affects the rate of response of this system) must necessarily be a compromise because a large time constant will broaden the azimuthal response and degrade the azimuthal resolution.

In the introduction to the system just described, it was stated that a slope-amplifier 9 was used to compensate for the variation in the intensity of reverberation. It is now clear that the purpose of this device was to insure a uniform threshold for all channels as theyrappear on the CRO screen and that reverberation would not appear as a target. This may be done by any convenient means, such as a gain control in each channel of the filter set as high as local reverberation and background noise in that channel will permit. Any signal in excess of such reverberationor noise thus exceeds the established threshold and a spot appears on the CRO screen.

errada r? As'has already 'been lindicated herein, it fis not .necessary Ouse the electronic method o'f Fig. 5 to obtain the 4desired lcontinuous indication of .ranges and hearings. A mechanical method, one form of which is illustrated 'in Fig "6,"has also .been found veryuse'ful.

",ln'this form of `the invention, 'filter 10, `rectifers `1'1, storage circuits 12, switching elements .13, switch 114,and the CR@ *1'5 "(together with its associated circuitsg) are eliminated and replaced by a ypluralityo'f mechanically resonant elements, such as galvanometer suspensions and coils, -tuned Areeds or strings in a multi-string light valve (with each string tuned to a particular resonant 'frequency). "The -sawtoothmodulated oscillator 1 power amplifier '2, `wave radiator 3, Wavereceiver 4, detector 5, injection :circuit '6,jiilters *7, '8 ,and slope amplifier '9 are the same in`Fig.'6 as inFig. 5.

In brief, such a mechanical device is transformed into an indicator `by arranging the yplurality of resonant elements side by sidegwith each unitjtuned to a slightly different Ifrequency in a manner similar -to .the 'band-pass filter 10. Vibration of one or more of the elements lprovides-indication that particular frequencies are present in the 1outputf'of the detector 5, which frequencies indicate the presence of `targets vat corresponding ranges.

Figure 6 is `a 4block schematic diagram of ,such a mechanical system in-whicha.multi-string'light valve-is used. The valve '23, containing a row of vtuned strings, is mounted'for-rotation on a shaft 2'4. A light sourceZS .is mounted at'one side o'f Aand i'for rotation with the valve so that-whenany of the strings vibrate, light from the source 25 'shines through the valve onto a stationary screen 26 (which is `preferably of the "long-persistence type o'f the kind-usedin cathode-ray Oscilloscopes) mounted on the opposite -sidevof the valve. For best operation, conventional mechanical meansfindicated `in *Fig `6V by -the dotted line, Vare xused `to-synchronize the rotation of'the shaft24 andrvalve 23 with the rotation ofthe wave receiver 4.

The output 'of the -slope amp1ier9 'is applied to the valve,and the vibration of 4thetuned strings, which correspondsftoparticular-ranges as do the lchannels -of 'filter 10, provides an indication -of the frequencies present from which the presence of objects 4or targets at corresponding ranges may Ibe determined. Asis obvious, when the strings tvibrate, 1the light from source 2f5 `passes 'through the valve 23 and -falls'on the screen'26. 'The screen thus provides Ia '360 plan of the surrounding area and the rangeand bearing of anobject is accurately located upon it by `passage 'of lightthrough the 'valve As is true of thefarrangement-shown lin Fig A5, any type of azimuthal scanning procedure Imay beused.

`Havingldescribed my-invention, I claim:

2l. AAn-echoranginglsystem comprising: Hmeans forgenerating -a high-frequency electric signal; means for fre quency-modulatingsaid signalwith a'low-'frequency'linear wave;-a-sound energyprojector driveneby such modulated signal;fa-receivermounted'toreceive sound energyemitted by said'projector after reflection from an object; heterodyning means -for `heterodyning 'the signal driving said projector `with ythe output signal of -said receiver; amplifier means having a-gain increasing "with frequency connected'rto said heterodyning means; and frequency indieating lmeans connected to said lastfmentioned means, comprising a plurality of elements, each sensitive to only one of -a plurality of different narrow bands of frequencies Afor indicating the lfrequency of theheterodyned signals, and -means coupledeto said frequency sensitive elements'for determining "the "range of said object from'the frequencyeof lthevheterodyned signal indicated by saidgfrequency sensitive elements.

2. .In"the=systemdescribed lin claim Al, said ban-ds being arrangediina series.

r An@echo-ranginglsystem I-comprising: kmeans lforfgenenating a high-frequency electric signal; means for frequencymodulating said -signalwith a 4low-'frequency linear wave; a sound energy prjectordriven lby'such rnotlu lated signa1;.a receiver mounted to receive sound energy ern'ittedby vsaid projector after reiiectionffroman object; heterodyning .means for heterodyning Athe signal ,dfiwing' sa'id projector with the output signal .o'f .'said receiver; amplifier means 'having a gain 'increasing with 'frequency connected to .said ,heterodyning means; a plurality .O'f filters, connected to saidlast-mentionedmeans,each sensitive to a relatively narrow band of frequencies `for'indi- .eating the frequency of the heterodyned signals; and means "for successively examining .the .output of said filters -for determining the range of the said object 'from the frequency indicatedby saidiilters.

4. An echo-ranging system comprising: meansiorgenerating ya high-frequency electric Signal; means 'for `fre quency-modulatingsaid signal with. alow-frequency linear wave; a `sound energy projector driven`bylsuch modulated signal; a .receiver mounted to receive sound energy emitted 'by saidiprojector after reflection from an object; heterodyning means for heterodyning vthe signal v driving said projector with the output signal of said receiver; an amplifier having a gain increasing withfrequency connected to said `heterodyning means; a yplurality of filters, connected to said last-mentioned means, each sensitive `to a relatively narrowband 4of frequencies for indicating the frequency ofthe heterodyned signals; and means for successively applying the outputs o'f said filters to an indicatorto-determ'ine 4the range o'f various targets from the frequencyindicatedby said filters.

5. An echoeranging system comprising: means for generating a .high-frequency electric signal; means for frequencye-modulating said signal with alow-frequcncylinear wave; -a sound energyprojectordrivenby such modulated s'ignal;a:rece1iver mounted to receive sound energy emitted by-said projector lafter reflection from an object; means for heterodyningfthe signaldriving said projector Withthe output signal 'of said receiver; a Vplurality of lfilters, connected -to said last-mentioned means, leach sensitive 'to a relatively -narrow vband vof frequencies for indicating the frequency of the heterodyned signals; an indicator device; and means `for rapidly and lsuccessively applying the outputsof.-said filters 4to-said indicator 'for effectively simultaneous Lportrayalon-'said indicator.

`6. An echo-ranging system comprising transmitting means 'for xpropagating 'a linearly frequency-modulated signalinajgiven medium, lmeans for receiving said signal after reflection from objects' in said medium, heterodyning means associated with said yreceiving means for heterodyning said vpropagated signal NWithsignals reected by -said objects,a-plurality of narrow band 'filters respectively responsive to different Abands of -a group of jadjacently located v'frequency 2bands vcoupled tothe output of =said heterodyning means, ya plurality of distinctmeans, each-coupled to theoutputof va separate one Aoffsaid narrow iband 1 filter-s, Lfor rectifying andstoring the output ider'ived from said band lfilters, and means for successively examining the -outputo'f said filters to determineth'efange of the said objects by the frequency indicated by said distinct storage means.

'7. An Y echo-ranging -system comprising lmeans for 4generating :a thigh-.frequency telectric signal, -means Afor lfrequency modulating said isignal in accordance -with a 'lowfrequency wave cyclicallyvarying'in'frequency ata'linear rate, 'a-'sound :energy projector 'drivenby said frequency modulated signal, a "receiver mounted to receive sound energy emitted by said projector after reflection Vfrom an object, heterodyning lmeans 'associatedwith said receiving'means and said modulated signal for heterodyning saidfmodulatedsignal 4and said received signal, avplurality of narrow-'band filters yrespectively responsive to different bands of a group of adjacent "frequencybandssaid ,narrowiband :lters `1being `coupled to the output of said heterodyning means, aplurality of distinct rectifying and storing means each coupled to the output of a separate one yof said narrow-band 'filters respectively, and means for successively examining the output o'f said filters to determine the range of the said objects by the frequency indicated by said distinct storage means.

8. An echo-ranging system comprising means for generating a high-frequency electric signal, means for frequency modulating said signal in accordance with a 10W- frequency Wave cyclically varying in frequency at a linear rate, a sound energy projector driven by said modulated Wave and propagating a linearly frequency-modulated signal in a given medium, means for receiving said propagated signal after reflection from objects in said medium, means for heterodyning the signal driving said projector with the output signal of said receiver, a slope amplifier connected in the output of said heterodyning means, a plurality of narrow-band filters respectively responsive to different bands of a group of adjacent frequency bands and coupled to the output of said slope amplifier, a plurality of distinct rectifying and storing means each of which is coupled to the output of a respective one of said narrowband filters, electronic means for successively examining the output of said lilters, and a cathode-ray oscilloscope connected to said electronic means for in dieating the range of the said objects by the frequency indicated by said distinct storing means.

References Cited in the file of this patent UNITED STATES PATENTS 2,148,578 Pullis Feb. 28, 1939 2,159,790 Freystedt et a1. May 23, 1939 2,206,903 Lane et a1. July 9, 1940 2,236,893 Chaffee Apr. 1, 1941 2,248,215 Budenbom July 8, 1941 2,256,539 Alford Sept. 23, 1941 2,268,587 Guanella Jan. 6, 1942 2,268,643 Crosby Jan. 6, 1942 2,405,134 Brown et al. Aug. 6, 1946 2,418,490 Turner Apr. 8, 1947 2,536,770 Rost Ian. 2, 1951 2,536,771 Rost Jan. 2, 1951 FOREIGN PATENTS 545,778 Great Britain June 12, 1942 546,202 Great Britain July 2, 1942 

